Method and device for providing support during the process of a motor vehicle driving out of a parallel parking space

Abstract

The present invention relates to a method and a device (10) for providing support during the process of a motor vehicle (1) driving out of a parallel parking space (QP). The device includes at least one environmental sensor (14) and at least one controller (11) with an assigned memory (12). Wherein, the device (10) is configured to continuously detect distance values to adjacent motor vehicles (2, 3) during the process of driving into the parking space and store these distance values in an environmental map (13). Wherein, the device (10) is further configured to detect the most recent distance values (d5 - d8) to adjacent motor vehicles (2, 3) before starting the process of driving out of the parking space, and compare the measured most recent distance values with the distance values (d1 - d4) stored in the environmental map (13). Wherein, in the case of consistency, a driving-out-of-parking-space trajectory is provided by means of the environmental map (13).

Description

Field of the Invention

[0001] The present invention relates to a method and a device for providing support during the process of a motor vehicle driving out of a parallel parking space. Background Art

[0002] Parallel parking spaces are parking spaces in which parked motor vehicles are placed with their vehicle longitudinal axes perpendicular to the lane. Driving out of a parallel parking space can present demanding driving requirements. Especially in the case of a narrow lane width, driving out of the parking space requires an ideal trajectory. Currently, there are parking systems with parking-out assistance, which, after activation, attempt to drive the vehicle out of the parking space because they only take into account the distances directly measured by sensors. This results in the assistance system being unable to select an ideal trajectory and, in some cases, requiring more maneuvers in order to merge into traffic so that the motor vehicle can drive along the lane.

[0003] A method for operating a vehicle, especially for driving into a parking space in a parking lot not recognized by the vehicle, is known from document DE 10 2013 015 349 A1, in which environmental data of the vehicle are detected, and in which, when driving into a parking space in the parking lot, it is recognized whether the parking space is a hidden parking space or the parking lot is a hidden parking lot. When a hidden parking space or a hidden parking lot is recognized and when the vehicle approaches the recognized hidden parking lot or hidden parking lot, the detected environmental data or driving data are stored or updated. The parking space driving-out trajectory is also described herein.

[0004] A method for providing support during the process of a motor vehicle driving into a parking space is known from document DE 10 2014 220 263 A1, wherein the method has the following steps:

[0005] - Moving the motor vehicle from a starting position for the first time into a parking position,

[0006] - Continuously detecting data on at least three driving parameters of the motor vehicle when the motor vehicle is first moved from the starting position into the parking position, these data being used to record the vehicle trajectory,

[0007] - Storing the detected data on at least three driving parameters of the motor vehicle,

[0008] - Automatically moving the motor vehicle between the starting position and the parking position according to the stored detected data on at least three driving parameters as a reaction to an activation signal received on the vehicle side.

[0009] Here, three driving parameters are the current vehicle acceleration, the current steering angle, and the currently engaged driving gear. It is described here that the vehicle drives into a parking space and then drives out of the parking space so that the vehicle passengers can get out, and then the vehicle finally drives into the parking space. It is also mentioned here that the vehicle drives out of the parking space so that the vehicle passengers can then get back in unobstructed.

[0010] A method for providing support during the process of a motor vehicle driving out of a parallel parking space is known from document DE 10 2009 028 760 A1.

[0011] A method for supporting a motor vehicle driver during a maneuver of driving out in reverse from a parallel parking space is known from document DE 10 2011 080 148 A1, wherein a lateral boundary line is determined. In one embodiment described here, in order to determine the lateral boundary line, the lateral object boundaries of objects adjacent to the motor vehicle are used, and these objects detect the parallel parking space when the motor vehicle drives into the parking space and are stored in a non-volatile memory.

[0012] A method for automatically implementing a motor vehicle parking process is known from document DE 10 2012 008 858 A1, wherein a communication connection is established between an operator outside the motor vehicle and the motor vehicle, and at least one instruction for activating the automatic parking process of the motor vehicle can be transmitted through the communication connection. Before starting the automatic parking process of the motor vehicle, the target position and / or the previously traveled trajectory of the motor vehicle are stored, and these data are used for implementing the automatic parking process.

[0013] A parking assistance device for providing support for a vehicle to drive into a parking space is known from document DE 10 2018 212 975 A1. Summary of the Invention

[0014] The technical problem to be solved by the present invention is to improve the method for providing support during the process of a motor vehicle driving out of a parallel parking space and to provide a suitable device.

[0015] A method for providing support during the process of a motor vehicle exiting a parallel parking space includes the following method steps. First, the motor vehicle drives into a parallel parking space, and during the process of driving into the parking space, distance values to adjacent motor vehicles are detected by means of at least one environmental sensor. The distance values measured during the process of driving into the parking space (or the parking-in process) are stored in an environmental map, or an environmental map is established by means of the distance values. Before starting the process of exiting the parking space, the latest distance value to an adjacent motor vehicle is detected. Preferably, there is a relatively long time interval between driving into the parking space and exiting the parking space and the motor vehicle is turned off. The detected latest distance value is compared with the previous distance value stored during the process of driving into the parking space. If the latest distance value is the same as the previously stored distance value, an exit parking space trajectory (or parking-out trajectory) is provided by means of the environmental map, and the motor vehicle can ideally exit the parking space (or park out) through the exit parking space trajectory. If, on the contrary, these distance values are different, the stored environmental map is no longer valid and the motor vehicle must attempt to exit the parallel parking space in the traditional manner. The basic idea of the present invention is that the environmental sensor can detect all important distance values of adjacent motor vehicles during the process of driving into the parking space, and these distance values cannot be directly detected in the state of having driven into the parking space subsequently. Then, the validity of the environmental map is checked according to the comparison of the distance values, and all old data are retrieved in the case of a positive check, which simplifies the process of exiting the parking space in most cases.

[0016] In addition to these distance values, at least one other feature of an adjacent motor vehicle is detected and stored. Before starting the process of exiting the parking space, the at least one other feature is additionally compared with the detected latest feature. Only when the distance values and the at least one other feature are the same, an exit parking space trajectory is provided.

[0017] The at least one other feature is color, contour, and / or license plate number (or vehicle logo) of the motor vehicle. Here, the at least one other feature is detected by means of at least one camera.

[0018] In one embodiment, the provided exit parking space trajectory is run fully automatically. However, the exit parking space trajectory can also be only displayed to the motor vehicle driver or only steering suggestions or steering support are provided.

[0019] In another embodiment, the process of driving into the parking space is also run fully automatically.

[0020] In another embodiment, at least one street-facing contour of the motor vehicle is detected, so that the exit parking space trajectory can be further optimized.

[0021] In another embodiment, distance values are detected by means of a plurality of ultrasonic sensors.

[0022] In terms of the design of the device, the foregoing embodiments can be fully referred to in terms of content. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] The present invention will be described in detail below in conjunction with preferred embodiments. In the drawings:

[0024] Figure 1 A schematic diagram of the traffic condition before driving into a tandem parking space is shown.

[0025] Figure 2 A schematic diagram of the traffic condition when driving into a tandem parking space is shown.

[0026] Figure 3 A schematic diagram of the traffic condition after completing the process of driving into the parking space is shown.

[0027] Figure 4 A schematic diagram of the traffic condition after completing the process of driving into the parking space and before turning off the motor vehicle is shown.

[0028] Figure 5 A schematic diagram of the traffic condition after starting the motor vehicle and before starting the process of driving out of the parking space is shown.

[0029] Figure 6 A schematic diagram of the traffic condition when driving out of a tandem parking space is shown.

[0030] Figure 7 An alternative schematic diagram of the traffic condition after starting and before starting the process of driving out of the parking space is shown.

[0031] Figure 8 A schematic block diagram of a device for providing support during the process of a motor vehicle driving out of a tandem parking space is shown. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0032] Figure 1 A traffic condition is schematically shown, in which a motor vehicle 1 can drive into a tandem parking space QP. At this time, the tandem parking space QP is bounded by two adjacent motor vehicles 2, 3. In addition, a detection area 4 is shown by four ultrasonic sensors mounted on the side. As shown, the detectable area of the ultrasonic sensor is limited at a certain point in time.

[0033] The motor vehicle 1 now drives into the tandem parking space QP, whereby the ultrasonic sensors of the motor vehicle 1 continuously detect the distance value from the motor vehicle 3, so as to measure the contour of the motor vehicle 3 in the area facing the street. This is Figure 2 represented by a fork mark in.

[0034] If the process of driving into the parking space is ended later, the motor vehicle 1 also measures the lateral distance values of the adjacent motor vehicles 2, 3, which is also indicated by a fork-shaped mark in Figure 3 All the distance values are entered into the environmental map or the environmental map is created with the aid of these distance values. Additionally, other features of the motor vehicles 2, 3 can be detected and stored.

[0035] In Figure 4 the motor vehicle 1 drives completely into the parking space and before switching off the motor vehicle 1, only the directly measurable distance values d1 - d4 are detected. Subsequently, the motor vehicle 1 is switched off and the sensors are deactivated.

[0036] In Figure 5 a situation is shown in which the motor vehicle 1 is restarted and drives out of the tandem parking space QP. Subsequently, first the current distance values d5 - d8 are measured and compared with the distance values d1 - d4 stored before switching off the motor vehicle. If other features are stored, these other features are detected and compared latest. If the distance values are the same, that is, d1 = d5, d2 = d6, d3 = d7 and d4 = d8, on this basis, these distance values have not changed and the environmental map is still valid. Thereby, the motor vehicle 1 recognizes the exact extension of the important parts of the motor vehicles 2, 3 and can provide an ideal trajectory, which is schematically shown in Figure 6

[0037] In Figure 7 it is shown that the two motor vehicles 2, 3 are no longer the same as at the time of switching off as in Figure 4 Accordingly, the latest measured distance values d5 - d8 are different from the stored distance values d1 - d4, and the environmental map is no longer valid.

[0038] A special case is that the adjacent motor vehicles 2, 3 are missing. In this case, nevertheless, an ideal trajectory can be provided subsequently, even if the distances are different. But this is not necessarily the case, because it is conceivable that there are multiple objects parked in the adjacent parking spaces, which are in the path of the trajectory but cannot be detected by the sensors.

[0039] In Figure 8 a schematic block diagram of a device 10 for providing support during the process of the motor vehicle driving out of the tandem parking space is shown. The device 10 has a controller 11, a memory 12 and an environmental map 13. Additionally, the device 10 has an environmental sensor 14, which has a plurality of ultrasonic sensors 15. Finally, the device 10 has at least one camera 16.

[0040] ​During the process of driving into a parking space, the device 10 continuously measures data through the ultrasonic sensor 15 and stores this data in the memory 12. With its own positioning, steering, and stored distance values, the controller 11 creates an environmental map 13 and stores the environmental map. In addition, at least one camera 16 detects at least one additional feature of the adjacent motor vehicles 2, 3 and stores these features in the environmental map 13. Before starting to drive out of the parking space, the device 10 measures the distance values d5 - d8 again through the ultrasonic sensor 15 and obtains the latest detected features of the adjacent motor vehicles 2, 3. The controller 11 then compares the latest data with the stored data and, if the data is the same, provides a trajectory for driving out of the parking space, where the trajectory for driving out of the parking space is calculated with the help of the environmental map 13.

[0041] List of reference numerals

[0042] 1 Motor vehicle

[0043] 2, 3 Adjacent motor vehicles

[0044] 4 Detection area

[0045] 10 Device

[0046] 11 Controller

[0047] 12 Memory

[0048] 13 Environmental map

[0049] 14 Environmental sensor

[0050] 15 Ultrasonic sensor

[0051] 16 Camera

[0052] d1 - d4 Distance values

[0053] d5 - d8 Distance values

[0054] QP Parallel parking space

Claims

1. A method for providing support during the process of a motor vehicle (1) exiting a side-by-side parking space (QP), the method comprising the following method steps: a) The motor vehicle (1) drives into the side-by-side parking space (QP), b) During the process of driving into the parking space, continuously detect distance values to adjacent motor vehicles (2, 3) by means of at least one environmental sensor (14), c) Store the distance values measured during the process of driving into the parking space in an environmental map (13), d) Before starting the process of exiting the parking space, detect the latest distance values (d5 - d8) to adjacent motor vehicles (2, 3), e) Compare the detected latest distance values (d5 - d8) with the previously stored distance values (d1 - d4) according to method step c), and f) If the distance values (d1 - d4, d5 - d8) in method step e) are the same, provide an exit parking space trajectory by means of the environmental map (13) in method step c), Characterized in that, In addition to these distance values, at least one other feature of adjacent motor vehicles (2, 3) is also detected and stored, wherein in method step e), at least one feature is compared with the detected latest feature, and wherein method step f) is only implemented when the distance values and the other feature are the same, wherein the at least one other feature is color and / or contour, and wherein the at least one other feature is detected by means of at least one camera (16).

2. The method according to claim 1, wherein Automatically run the provided exit parking space trajectory.

3. The method according to claim 1 or 2, characterized in that, Automatically run the entry parking space trajectory according to method step a).

4. The method according to claim 1, characterized in that, Detect the street-facing contour of at least one motor vehicle (3).

5. The method according to claim 1, wherein Detect distance values by means of a plurality of ultrasonic sensors (15).

6. A device (10) for providing support during the exit of a motor vehicle (1) from a parallel parking space (QP), said device (10) comprising at least one environmental sensor (14) and at least one controller (11) with an assigned memory (12), wherein, The device (10) is arranged to continuously detect distance values to adjacent motor vehicles (2, 3) during the process of driving into the parking space and store these distance values in an environmental map (13), wherein the device (10) is further arranged to detect the latest distance values (d5 - d8) to adjacent motor vehicles (2, 3) before starting the process of exiting the parking space, and compare the measured latest distance values with the distance values (d1 - d4) stored in the environmental map (13), and wherein in the case of consistency, provide an exit parking space trajectory by means of the environmental map (13), It is characterized in that the device (10) is arranged to, in addition to these distance values, also detect and store at least one other feature of adjacent motor vehicles (2, 3), the at least one other feature being color and / or contour, wherein the feature stored before starting the process of exiting the parking space is compared with the latest other feature, and wherein an exit parking space trajectory is only provided when the distance values and the other feature are consistent, and wherein the device (10) has a camera (16) for detecting at least one other feature.

7. The device (10) according to claim 6, characterized in that, The device (10) is arranged to automatically run the entry parking space trajectory and / or the exit parking space trajectory.

8. The device (10) according to claim 6 or 7, characterized in that, The environmental sensor (14) has ultrasonic sensors (15).

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